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This was merged officially into the ROS forks of sicktoolbox and sicktoolbox_wrapper about 2 years ago.

If you're running Groovy or Hydro from debs, please set the connect_delay parameter to something like 30 seconds for the Pioneer. https://github.com/ros-drivers/sicktoolbox_wrapper/blob/hydro-devel/ros/sicklms/sicklms.cpp#L207

You DO NOT need to modify the source code, it's already included in the ROS fork of sicktoolbox. https://github.com/ros-drivers/sicktoolbox/blob/catkin/c%2B%2B/drivers/lms2xx/sicklms2xx/SickLMS2xx.cc#L110